CommonB2Math.go

package box2d

import (
	"math"
)

// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// b2Math.h
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////

// / This function is used to ensure that a floating point number is not a NaN or infinity.
func B2IsValid(x float64) bool {
	return !math.IsNaN(x) && !math.IsInf(x, 0)
}

// / This is a approximate yet fast inverse square-root.
func B2InvSqrt(x float64) float64 {
	// https://groups.google.com/forum/#!topic/golang-nuts/8vaZ1ERYIQ0
	// Faster with math.Sqrt
	return 1.0 / math.Sqrt(x)
}

// /////////////////////////////////////////////////////////////////////////////
// / A 2D column vector.
// /////////////////////////////////////////////////////////////////////////////
type B2Vec2 struct {
	X, Y float64
}

func MakeB2Vec2(xIn, yIn float64) B2Vec2 {
	return B2Vec2{
		X: xIn,
		Y: yIn,
	}
}

// / Construct using coordinates.
func NewB2Vec2(xIn, yIn float64) *B2Vec2 {
	return &B2Vec2{
		X: xIn,
		Y: yIn,
	}
}

// / Set this vector to all zeros.
func (v *B2Vec2) SetZero() {
	v.X = 0.0
	v.Y = 0.0
}

// / Set this vector to some specified coordinates.
func (v *B2Vec2) Set(x, y float64) {
	v.X = x
	v.Y = y
}

// / Negate this vector.
func (v B2Vec2) OperatorNegate() B2Vec2 {
	return MakeB2Vec2(
		-v.X,
		-v.Y,
	)
}

// / Read from and indexed element.
func (v B2Vec2) OperatorIndexGet(i int) float64 {
	if i == 0 {
		return v.X
	}

	return v.Y
}

// / Write to an indexed element.
func (v *B2Vec2) OperatorIndexSet(i int, value float64) {
	if i == 0 {
		v.X = value
	}

	v.Y = value
}

// / Add a vector to this vector.
func (v *B2Vec2) OperatorPlusInplace(other B2Vec2) {
	v.X += other.X
	v.Y += other.Y
}

// / Subtract a vector from this vector.
func (v *B2Vec2) OperatorMinusInplace(other B2Vec2) {
	v.X -= other.X
	v.Y -= other.Y
}

// / Multiply this vector by a scalar.
func (v *B2Vec2) OperatorScalarMulInplace(a float64) {
	v.X *= a
	v.Y *= a
}

// / Get the length of this vector (the norm).
func (v B2Vec2) Length() float64 {
	return math.Sqrt(v.X*v.X + v.Y*v.Y)
}

// / Get the length squared. For performance, use this instead of
// / b2Vec2::Length (if possible).
func (v B2Vec2) LengthSquared() float64 {
	return v.X*v.X + v.Y*v.Y
}

// / Convert this vector into a unit vector. Returns the length.
func (v *B2Vec2) Normalize() float64 {

	length := v.Length()

	if length < B2_epsilon {
		return 0.0
	}

	invLength := 1.0 / length
	v.X *= invLength
	v.Y *= invLength

	return length
}

// / Does this vector contain finite coordinates?
func (v B2Vec2) IsValid() bool {
	return B2IsValid(v.X) && B2IsValid(v.Y)
}

// / Get the skew vector such that dot(skew_vec, other) == cross(vec, other)
func (v B2Vec2) Skew() B2Vec2 {
	return MakeB2Vec2(-v.Y, v.X)
}

func (v B2Vec2) Clone() B2Vec2 {
	return MakeB2Vec2(v.X, v.Y)
}

// /////////////////////////////////////////////////////////////////////////////
// / A 2D column vector with 3 elements.
// /////////////////////////////////////////////////////////////////////////////
type B2Vec3 struct {
	X, Y, Z float64
}

// / Construct using coordinates.
func MakeB2Vec3(xIn, yIn, zIn float64) B2Vec3 {
	return B2Vec3{
		X: xIn,
		Y: yIn,
		Z: zIn,
	}
}

func NewB2Vec3(xIn, yIn, zIn float64) *B2Vec3 {
	res := MakeB2Vec3(xIn, yIn, zIn)
	return &res
}

// / Set this vector to all zeros.
func (v *B2Vec3) SetZero() {
	v.X = 0.0
	v.Y = 0.0
	v.Z = 0.0
}

// / Set this vector to some specified coordinates.
func (v *B2Vec3) Set(x, y, z float64) {
	v.X = x
	v.Y = y
	v.Z = z
}

// / Negate this vector.
func (v B2Vec3) OperatorNegate() B2Vec3 {
	return MakeB2Vec3(
		-v.X,
		-v.Y,
		-v.Z,
	)
}

// / Add a vector to this vector.
func (v *B2Vec3) OperatorPlusInplace(other B2Vec3) {
	v.X += other.X
	v.Y += other.Y
	v.Z += other.Z
}

// / Subtract a vector from this vector.
func (v *B2Vec3) OperatorMinusInplace(other B2Vec3) {
	v.X -= other.X
	v.Y -= other.Y
	v.Z -= other.Z
}

// / Multiply this vector by a scalar.
func (v *B2Vec3) OperatorScalarMultInplace(a float64) {
	v.X *= a
	v.Y *= a
	v.Z *= a
}

// /////////////////////////////////////////////////////////////////////////////
// / A 2-by-2 matrix. Stored in column-major order.
// /////////////////////////////////////////////////////////////////////////////
type B2Mat22 struct {
	Ex, Ey B2Vec2
}

// / The default constructor does nothing
func MakeB2Mat22() B2Mat22 {
	return B2Mat22{}
}

func NewB2Mat22() *B2Mat22 {
	return &B2Mat22{}
}

// / Construct this matrix using columns.
func MakeB2Mat22FromColumns(c1, c2 B2Vec2) B2Mat22 {
	return B2Mat22{
		Ex: c1,
		Ey: c2,
	}
}

func NewB2Mat22FromColumns(c1, c2 B2Vec2) *B2Mat22 {
	res := MakeB2Mat22FromColumns(c1, c2)
	return &res
}

// / Construct this matrix using scalars.
func MakeB2Mat22FromScalars(a11, a12, a21, a22 float64) B2Mat22 {
	return B2Mat22{
		Ex: MakeB2Vec2(a11, a21),
		Ey: MakeB2Vec2(a12, a22),
	}
}

func NewB2Mat22FromScalars(a11, a12, a21, a22 float64) *B2Mat22 {
	res := MakeB2Mat22FromScalars(a11, a12, a21, a22)
	return &res
}

// / Initialize this matrix using columns.
func (m *B2Mat22) Set(c1 B2Vec2, c2 B2Vec2) {
	m.Ex = c1
	m.Ey = c2
}

// / Set this to the identity matrix.
func (m *B2Mat22) SetIdentity() {
	m.Ex.X = 1.0
	m.Ey.X = 0.0
	m.Ex.Y = 0.0
	m.Ey.Y = 1.0
}

// / Set this matrix to all zeros.
func (m *B2Mat22) SetZero() {
	m.Ex.X = 0.0
	m.Ey.X = 0.0
	m.Ex.Y = 0.0
	m.Ey.Y = 0.0
}

func (m B2Mat22) GetInverse() B2Mat22 {

	a := m.Ex.X
	b := m.Ey.X
	c := m.Ex.Y
	d := m.Ey.Y

	B := MakeB2Mat22()

	det := a*d - b*c
	if det != 0.0 {
		det = 1.0 / det
	}

	B.Ex.X = det * d
	B.Ey.X = -det * b
	B.Ex.Y = -det * c
	B.Ey.Y = det * a

	return B
}

// / Solve A * x = b, where b is a column vector. This is more efficient
// / than computing the inverse in one-shot cases.
func (m B2Mat22) Solve(b B2Vec2) B2Vec2 {

	a11 := m.Ex.X
	a12 := m.Ey.X
	a21 := m.Ex.Y
	a22 := m.Ey.Y
	det := a11*a22 - a12*a21

	if det != 0.0 {
		det = 1.0 / det
	}

	return MakeB2Vec2(
		det*(a22*b.X-a12*b.Y),
		det*(a11*b.Y-a21*b.Y),
	)
}

// /////////////////////////////////////////////////////////////////////////////
// / A 3-by-3 matrix. Stored in column-major order.
// /////////////////////////////////////////////////////////////////////////////
type B2Mat33 struct {
	Ex, Ey, Ez B2Vec3
}

// / The default constructor does nothing (for performance).
func MakeB2Mat33() B2Mat33 {
	return B2Mat33{}
}

func NewB2Mat33() *B2Mat33 {
	return &B2Mat33{}
}

// / Construct this matrix using columns.
func MakeB2Mat33FromColumns(c1, c2, c3 B2Vec3) B2Mat33 {
	return B2Mat33{
		Ex: c1,
		Ey: c2,
		Ez: c3,
	}
}

func NewB2Mat33FromColumns(c1, c2, c3 B2Vec3) *B2Mat33 {
	res := MakeB2Mat33FromColumns(c1, c2, c3)
	return &res
}

// / Set this matrix to all zeros.
func (m *B2Mat33) SetZero() {
	m.Ex.SetZero()
	m.Ey.SetZero()
	m.Ez.SetZero()
}

// /////////////////////////////////////////////////////////////////////////////
// / Rotation
// /////////////////////////////////////////////////////////////////////////////
type B2Rot struct {
	// / Sine and cosine
	S, C float64
}

func MakeB2Rot() B2Rot {
	return B2Rot{}
}

func NewB2Rot() *B2Rot {
	return &B2Rot{}
}

// / Initialize from an angle in radians
func MakeB2RotFromAngle(anglerad float64) B2Rot {
	return B2Rot{
		S: math.Sin(anglerad),
		C: math.Cos(anglerad),
	}
}

func NewB2RotFromAngle(anglerad float64) *B2Rot {
	res := MakeB2RotFromAngle(anglerad)
	return &res
}

// / Set using an angle in radians.
func (r *B2Rot) Set(anglerad float64) {
	r.S = math.Sin(anglerad)
	r.C = math.Cos(anglerad)
}

// / Set to the identity rotation
func (r *B2Rot) SetIdentity() {
	r.S = 0.0
	r.C = 1.0
}

// / Get the angle in radians
func (r B2Rot) GetAngle() float64 {
	return math.Atan2(r.S, r.C)
}

// / Get the x-axis
func (r B2Rot) GetXAxis() B2Vec2 {
	return MakeB2Vec2(r.C, r.S)
}

// / Get the u-axis
func (r B2Rot) GetYAxis() B2Vec2 {
	return MakeB2Vec2(-r.S, r.C)
}

// /////////////////////////////////////////////////////////////////////////////
// / A transform contains translation and rotation. It is used to represent
// / the position and orientation of rigid frames.
// /////////////////////////////////////////////////////////////////////////////
type B2Transform struct {
	P B2Vec2
	Q B2Rot
}

// / The default constructor does nothing.
func MakeB2Transform() B2Transform {
	return B2Transform{
		P: MakeB2Vec2(0, 0),
		Q: MakeB2Rot(),
	}
}

func NewB2Transform() *B2Transform {
	res := MakeB2Transform()
	return &res
}

// / Initialize using a position vector and a rotation.
func MakeB2TransformByPositionAndRotation(position B2Vec2, rotation B2Rot) B2Transform {
	return B2Transform{
		P: position,
		Q: rotation,
	}
}

func NewB2TransformByPositionAndRotation(position B2Vec2, rotation B2Rot) *B2Transform {
	res := MakeB2TransformByPositionAndRotation(position, rotation)
	return &res
}

// / Set this to the identity transform.
func (t *B2Transform) SetIdentity() {
	t.P.SetZero()
	t.Q.SetIdentity()
}

// / Set this based on the position and angle.
func (t *B2Transform) Set(position B2Vec2, anglerad float64) {
	t.P = position
	t.Q.Set(anglerad)
}

// /////////////////////////////////////////////////////////////////////////////
// / This describes the motion of a body/shape for TOI computation.
// / Shapes are defined with respect to the body origin, which may
// / no coincide with the center of mass. However, to support dynamics
// / we must interpolate the center of mass position.
// /////////////////////////////////////////////////////////////////////////////

type B2Sweep struct {
	LocalCenter B2Vec2  // /< local center of mass position
	C0, C       B2Vec2  // /< center world positions
	A0, A       float64 // /< world angles

	// / Fraction of the current time step in the range [0,1]
	// / c0 and a0 are the positions at alpha0.
	Alpha0 float64
}

// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////

// / Useful constant
var B2Vec2_zero = MakeB2Vec2(0, 0)

// / Perform the dot product on two vectors.
func B2Vec2Dot(a, b B2Vec2) float64 {
	return a.X*b.X + a.Y*b.Y
}

// / Perform the cross product on two vectors. In 2D this produces a scalar.
func B2Vec2Cross(a, b B2Vec2) float64 {
	return a.X*b.Y - a.Y*b.X
}

// / Perform the cross product on a vector and a scalar. In 2D this produces
// / a vector.
func B2Vec2CrossVectorScalar(a B2Vec2, s float64) B2Vec2 {
	return MakeB2Vec2(s*a.Y, -s*a.X)
}

// / Perform the cross product on a scalar and a vector. In 2D this produces
// / a vector.
func B2Vec2CrossScalarVector(s float64, a B2Vec2) B2Vec2 {
	return MakeB2Vec2(-s*a.Y, s*a.X)
}

// / Multiply a matrix times a vector. If a rotation matrix is provided,
// / then this transforms the vector from one frame to another.
func B2Vec2Mat22Mul(A B2Mat22, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(A.Ex.X*v.X+A.Ey.X*v.Y, A.Ex.Y*v.X+A.Ey.Y*v.Y)
}

// / Multiply a matrix transpose times a vector. If a rotation matrix is provided,
// / then this transforms the vector from one frame to another (inverse transform).
func B2Vec2Mat22MulT(A B2Mat22, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(B2Vec2Dot(v, A.Ex), B2Vec2Dot(v, A.Ey))
}

// / Add two vectors component-wise.
func B2Vec2Add(a, b B2Vec2) B2Vec2 {
	return MakeB2Vec2(a.X+b.X, a.Y+b.Y)
}

// /// Subtract two vectors component-wise.
func B2Vec2Sub(a, b B2Vec2) B2Vec2 {
	return MakeB2Vec2(a.X-b.X, a.Y-b.Y)
}

func B2Vec2MulScalar(s float64, a B2Vec2) B2Vec2 {
	return MakeB2Vec2(s*a.X, s*a.Y)
}

func B2Vec2Equals(a, b B2Vec2) bool {
	return a.X == b.X && a.Y == b.Y
}

func B2Vec2NotEquals(a, b B2Vec2) bool {
	return a.X != b.X || a.Y != b.Y
}

func B2Vec2Distance(a, b B2Vec2) float64 {
	return B2Vec2Sub(a, b).Length()
}

func B2Vec2DistanceSquared(a, b B2Vec2) float64 {
	c := B2Vec2Sub(a, b)
	return B2Vec2Dot(c, c)
}

func B2Vec3MultScalar(s float64, a B2Vec3) B2Vec3 {
	return MakeB2Vec3(s*a.X, s*a.Y, s*a.Z)
}

// / Add two vectors component-wise.
func B2Vec3Add(a, b B2Vec3) B2Vec3 {
	return MakeB2Vec3(a.X+b.X, a.Y+b.Y, a.Z+b.Z)
}

// / Subtract two vectors component-wise.
func B2Vec3Sub(a, b B2Vec3) B2Vec3 {
	return MakeB2Vec3(a.X-b.X, a.Y-b.Y, a.Z-b.Z)
}

// / Perform the dot product on two vectors.
func B2Vec3Dot(a, b B2Vec3) float64 {
	return a.X*b.X + a.Y*b.Y + a.Z*b.Z
}

// / Perform the cross product on two vectors.
func B2Vec3Cross(a, b B2Vec3) B2Vec3 {
	return MakeB2Vec3(a.Y*b.Z-a.Z*b.Y, a.Z*b.X-a.X*b.Z, a.X*b.Y-a.Y*b.X)
}

func B2Mat22Add(A, B B2Mat22) B2Mat22 {
	return MakeB2Mat22FromColumns(
		B2Vec2Add(A.Ex, B.Ex),
		B2Vec2Add(A.Ey, B.Ey),
	)
}

// A * B
func B2Mat22Mul(A, B B2Mat22) B2Mat22 {
	return MakeB2Mat22FromColumns(
		B2Vec2Mat22Mul(A, B.Ex),
		B2Vec2Mat22Mul(A, B.Ey),
	)
}

// A^T * B
func B2Mat22MulT(A, B B2Mat22) B2Mat22 {
	c1 := MakeB2Vec2(
		B2Vec2Dot(A.Ex, B.Ex),
		B2Vec2Dot(A.Ey, B.Ex),
	)

	c2 := MakeB2Vec2(
		B2Vec2Dot(A.Ex, B.Ey),
		B2Vec2Dot(A.Ey, B.Ey),
	)

	return MakeB2Mat22FromColumns(c1, c2)
}

// / Multiply a matrix times a vector.
func B2Vec3Mat33Mul(A B2Mat33, v B2Vec3) B2Vec3 {
	one := B2Vec3MultScalar(v.X, A.Ex)
	two := B2Vec3MultScalar(v.Y, A.Ey)
	three := B2Vec3MultScalar(v.Z, A.Ez)

	return B2Vec3Add(
		B2Vec3Add(
			one,
			two,
		),
		three,
	)
}

// / Multiply a matrix times a vector.
func B2Vec2Mul22(A B2Mat33, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(A.Ex.X*v.X+A.Ey.X*v.Y, A.Ex.Y*v.X+A.Ey.Y*v.Y)
}

// / Multiply two rotations: q * r
func B2RotMul(q, r B2Rot) B2Rot {
	return B2Rot{
		S: q.S*r.C + q.C*r.S,
		C: q.C*r.C - q.S*r.S,
	}
}

// / Transpose multiply two rotations: qT * r
func B2RotMulT(q, r B2Rot) B2Rot {
	return B2Rot{
		S: q.C*r.S - q.S*r.C,
		C: q.C*r.C + q.S*r.S,
	}
}

// / Rotate a vector
func B2RotVec2Mul(q B2Rot, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(
		q.C*v.X-q.S*v.Y,
		q.S*v.X+q.C*v.Y,
	)
}

// / Inverse rotate a vector
func B2RotVec2MulT(q B2Rot, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(
		q.C*v.X+q.S*v.Y,
		-q.S*v.X+q.C*v.Y,
	)
}

func B2TransformVec2Mul(T B2Transform, v B2Vec2) B2Vec2 {
	return MakeB2Vec2(
		(T.Q.C*v.X-T.Q.S*v.Y)+T.P.X,
		(T.Q.S*v.X+T.Q.C*v.Y)+T.P.Y,
	)
}

func B2TransformVec2MulT(T B2Transform, v B2Vec2) B2Vec2 {
	px := v.X - T.P.X
	py := v.Y - T.P.Y
	x := (T.Q.C*px + T.Q.S*py)
	y := (-T.Q.S*px + T.Q.C*py)

	return MakeB2Vec2(x, y)
}

func B2TransformMul(A, B B2Transform) B2Transform {
	q := B2RotMul(A.Q, B.Q)
	p := B2Vec2Add(B2RotVec2Mul(A.Q, B.P), A.P)

	return MakeB2TransformByPositionAndRotation(p, q)
}

func B2TransformMulT(A, B B2Transform) B2Transform {
	q := B2RotMulT(A.Q, B.Q)
	p := B2RotVec2MulT(A.Q, B2Vec2Sub(B.P, A.P))

	return MakeB2TransformByPositionAndRotation(p, q)
}

func B2Vec2Abs(a B2Vec2) B2Vec2 {
	return MakeB2Vec2(math.Abs(a.X), math.Abs(a.Y))
}

func B2Mat22Abs(A B2Mat22) B2Mat22 {
	return MakeB2Mat22FromColumns(
		B2Vec2Abs(A.Ex),
		B2Vec2Abs(A.Ey),
	)
}

func B2Vec2Min(a, b B2Vec2) B2Vec2 {
	return MakeB2Vec2(
		min(a.X, b.X),
		min(a.Y, b.Y),
	)
}

func min(x,y float64)float64{
	if x < y {
		return x
	}
	return y
}

func B2Vec2Max(a, b B2Vec2) B2Vec2 {
	return MakeB2Vec2(
		max(a.X, b.X),
		max(a.Y, b.Y),
	)
}

func max(x, y float64) float64 {
	if x > y {
		return x
	}
	return y
}

func B2Vec2Clamp(a, low, high B2Vec2) B2Vec2 {
	return B2Vec2Max(
		low,
		B2Vec2Min(a, high),
	)
}

func B2FloatClamp(a, low, high float64) float64 {
	return math.Max(
		low,
		math.Min(a, high),
	)
}

// / "Next Largest Power of 2
// / Given a binary integer value x, the next largest power of 2 can be computed by a SWAR algorithm
// / that recursively "folds" the upper bits into the lower bits. This process yields a bit vector with
// / the same most significant 1 as x, but all 1's below it. Adding 1 to that value yields the next
// / largest power of 2. For a 32-bit value:"
func B2NextPowerOfTwo(x uint32) uint32 {
	x |= (x >> 1)
	x |= (x >> 2)
	x |= (x >> 4)
	x |= (x >> 8)
	x |= (x >> 16)
	return x + 1
}

func B2IsPowerOfTwo(x uint32) bool {
	return x > 0 && (x&(x-1)) == 0
}

func (sweep B2Sweep) GetTransform(xf *B2Transform, beta float64) {

	xf.P = B2Vec2Add(
		B2Vec2MulScalar(1.0-beta, sweep.C0),
		B2Vec2MulScalar(beta, sweep.C),
	)

	angle := (1.0-beta)*sweep.A0 + beta*sweep.A
	xf.Q.Set(angle)

	// Shift to origin
	xf.P.OperatorMinusInplace(B2RotVec2Mul(xf.Q, sweep.LocalCenter))
}

func (sweep *B2Sweep) Advance(alpha float64) {
	B2Assert(sweep.Alpha0 < 1.0)
	beta := (alpha - sweep.Alpha0) / (1.0 - sweep.Alpha0)
	sweep.C0.OperatorPlusInplace(B2Vec2MulScalar(beta, B2Vec2Sub(sweep.C, sweep.C0)))
	sweep.A0 += beta * (sweep.A - sweep.A0)
	sweep.Alpha0 = alpha
}

// / Normalize an angle in radians to be between -pi and pi
func (sweep *B2Sweep) Normalize() {
	twoPi := 2.0 * B2_pi
	d := twoPi * math.Floor(sweep.A0/twoPi)
	sweep.A0 -= d
	sweep.A -= d
}

// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// b2Math.cpp
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////
// /////////////////////////////////////////////////////////////////////////////

// / Solve A * x = b, where b is a column vector. This is more efficient
// / than computing the inverse in one-shot cases.
func (mat B2Mat33) Solve33(b B2Vec3) B2Vec3 {
	det := B2Vec3Dot(mat.Ex, B2Vec3Cross(mat.Ey, mat.Ez))
	if det != 0.0 {
		det = 1.0 / det
	}

	// b2Vec3 x;
	// x.x = det * b2Dot(b, b2Cross(ey, ez));
	// x.y = det * b2Dot(ex, b2Cross(b, ez));
	// x.z = det * b2Dot(ex, b2Cross(ey, b));
	// return x;

	x := det * B2Vec3Dot(b, B2Vec3Cross(mat.Ey, mat.Ez))
	y := det * B2Vec3Dot(mat.Ex, B2Vec3Cross(b, mat.Ez))
	z := det * B2Vec3Dot(mat.Ex, B2Vec3Cross(mat.Ey, b))

	return MakeB2Vec3(x, y, z)
}

// / Solve A * x = b, where b is a column vector. This is more efficient
// / than computing the inverse in one-shot cases.
func (mat B2Mat33) Solve22(b B2Vec2) B2Vec2 {
	a11 := mat.Ex.X
	a12 := mat.Ey.X
	a21 := mat.Ex.Y
	a22 := mat.Ey.Y

	det := a11*a22 - a12*a21
	if det != 0.0 {
		det = 1.0 / det
	}

	x := det * (a22*b.X - a12*b.Y)
	y := det * (a11*b.Y - a21*b.X)

	return MakeB2Vec2(x, y)
}

// /
func (mat B2Mat33) GetInverse22(M *B2Mat33) {
	a := mat.Ex.X
	b := mat.Ey.X
	c := mat.Ex.Y
	d := mat.Ey.Y

	det := a*d - b*c
	if det != 0.0 {
		det = 1.0 / det
	}

	M.Ex.X = det * d
	M.Ey.X = -det * b
	M.Ex.Z = 0.0
	M.Ex.Y = -det * c
	M.Ey.Y = det * a
	M.Ey.Z = 0.0
	M.Ez.X = 0.0
	M.Ez.Y = 0.0
	M.Ez.Z = 0.0
}

// / Returns the zero matrix if singular.
func (mat B2Mat33) GetSymInverse33(M *B2Mat33) {
	det := B2Vec3Dot(mat.Ex, B2Vec3Cross(mat.Ey, mat.Ez))

	if det != 0.0 {
		det = 1.0 / det
	}

	a11 := mat.Ex.X
	a12 := mat.Ey.X
	a13 := mat.Ez.X
	a22 := mat.Ey.Y
	a23 := mat.Ez.Y
	a33 := mat.Ez.Z

	M.Ex.X = det * (a22*a33 - a23*a23)
	M.Ex.Y = det * (a13*a23 - a12*a33)
	M.Ex.Z = det * (a12*a23 - a13*a22)

	M.Ey.X = M.Ex.Y
	M.Ey.Y = det * (a11*a33 - a13*a13)
	M.Ey.Z = det * (a13*a12 - a11*a23)

	M.Ez.X = M.Ex.Z
	M.Ez.Y = M.Ey.Z
	M.Ez.Z = det * (a11*a22 - a12*a12)
}